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<div class="title">walk_mpc_wbc.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;mujoco/mujoco.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;GLFW/glfw3.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;GLFW_callbacks.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;MJ_interface.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;PVT_ctrl.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;data_logger.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;useful_math.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;wbc_priority.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;mpc.h&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;gait_scheduler.h&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;foot_placement.h&quot;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;joystick_interpreter.h&quot;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">const</span>   <span class="keywordtype">double</span>  dt = 0.001;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">const</span>   <span class="keywordtype">double</span>  dt_200Hz = 0.005;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// MuJoCo load and compile model</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keywordtype">char</span> error[1000] = <span class="stringliteral">&quot;Could not load binary model&quot;</span>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;mjModel* mj_model = mj_loadXML(<span class="stringliteral">&quot;../models/scene.xml&quot;</span>, 0, error, 1000);</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;mjData* mj_data = mj_makeData(mj_model);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv) {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="comment">// initialize classes</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="classUIctr.html">UIctr</a> uiController(mj_model,mj_data);   <span class="comment">// UI control for Mujoco</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="classMJ__Interface.html">MJ_Interface</a> mj_interface(mj_model, mj_data); <span class="comment">// data interface for Mujoco</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> kinDynSolver(<span class="stringliteral">&quot;../models/AzureLoong.urdf&quot;</span>); <span class="comment">// kinematics and dynamics solver</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="structDataBus.html">DataBus</a> RobotState(kinDynSolver.model_nv); <span class="comment">// data bus</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <a class="code" href="classWBC__priority.html">WBC_priority</a> WBC_solv(kinDynSolver.model_nv, 18, 22, 0.7, mj_model-&gt;opt.timestep); <span class="comment">// WBC solver</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="classMPC.html">MPC</a> MPC_solv(dt_200Hz);  <span class="comment">// mpc controller</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <a class="code" href="classGaitScheduler.html">GaitScheduler</a> gaitScheduler(0.25, mj_model-&gt;opt.timestep); <span class="comment">// gait scheduler</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classPVT__Ctr.html">PVT_Ctr</a> pvtCtr(mj_model-&gt;opt.timestep,<span class="stringliteral">&quot;../common/joint_ctrl_config.json&quot;</span>);<span class="comment">// PVT joint control</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="classFootPlacement.html">FootPlacement</a> footPlacement; <span class="comment">// foot-placement planner</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="classJoyStickInterpreter.html">JoyStickInterpreter</a> jsInterp(mj_model-&gt;opt.timestep); <span class="comment">// desired baselink velocity generator</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="classDataLogger.html">DataLogger</a> logger(<span class="stringliteral">&quot;../record/datalog.log&quot;</span>); <span class="comment">// data logger</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="comment">// initialize UI: GLFW</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    uiController.iniGLFW();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    uiController.enableTracking(); <span class="comment">// enable viewpoint tracking of the body 1 of the robot</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    uiController.createWindow(<span class="stringliteral">&quot;Demo&quot;</span>,<span class="keyword">false</span>); <span class="comment">// NOTE: if the saveVideo is set to true, the raw recorded file could be 2.5 GB for 15 seconds!</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="comment">// initialize variables</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">double</span> stand_legLength = 1.01;<span class="comment">//0.97;// desired baselink height</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">double</span> foot_height =0.07; <span class="comment">// distance between the foot ankel joint and the bottom</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">double</span> xv_des = 1.2;  <span class="comment">// desired velocity in x direction</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">int</span> model_nv=kinDynSolver.model_nv;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    RobotState.width_hips = 0.229;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    footPlacement.<a class="code" href="classFootPlacement.html#ae58f1f2ea1c2d690d10f4c7b7b0c67d0">kp_vx</a> = 0.03;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    footPlacement.<a class="code" href="classFootPlacement.html#a9e1f6a5e58ce202d031a17be6652ce20">kp_vy</a> = 0.03;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    footPlacement.<a class="code" href="classFootPlacement.html#ad375e1c3c0dfa0c73e13372b092a0738">kp_wz</a> = 0.03;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    footPlacement.<a class="code" href="classFootPlacement.html#ab42c8e066a9f7d1997ca7780af64c932">stepHeight</a> = 0.15;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    footPlacement.<a class="code" href="classFootPlacement.html#ab5b95a95c66387cf179dc54179d956a0">legLength</a>=stand_legLength;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    mju_copy(mj_data-&gt;qpos, mj_model-&gt;key_qpos, mj_model-&gt;nq*1); <span class="comment">// set ini pos in Mujoco</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    std::vector&lt;double&gt; motors_pos_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    std::vector&lt;double&gt; motors_pos_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    std::vector&lt;double&gt; motors_vel_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    std::vector&lt;double&gt; motors_vel_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    std::vector&lt;double&gt; motors_tau_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    std::vector&lt;double&gt; motors_tau_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// ini position and posture for foot-end and hand</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Eigen::Vector3d fe_l_pos_L_des={-0.018, 0.113, -stand_legLength};</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::Vector3d fe_r_pos_L_des={-0.018, -0.116, -stand_legLength};</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Eigen::Vector3d fe_l_eul_L_des={-0.000, -0.008, -0.000};</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    Eigen::Vector3d fe_r_eul_L_des={0.000, -0.008, 0.000};</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    Eigen::Matrix3d fe_l_rot_des= eul2Rot(fe_l_eul_L_des(0),fe_l_eul_L_des(1),fe_l_eul_L_des(2));</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    Eigen::Matrix3d fe_r_rot_des= eul2Rot(fe_r_eul_L_des(0),fe_r_eul_L_des(1),fe_r_eul_L_des(2));</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    Eigen::Vector3d hd_l_pos_L_des={-0.02, 0.32, -0.159};</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    Eigen::Vector3d hd_r_pos_L_des={-0.02, -0.32, -0.159};</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    Eigen::Vector3d hd_l_eul_L_des={-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    Eigen::Vector3d hd_r_eul_L_des={1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    Eigen::Matrix3d hd_l_rot_des= eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    Eigen::Matrix3d hd_r_rot_des= eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">auto</span> resLeg=kinDynSolver.computeInK_Leg(fe_l_rot_des,fe_l_pos_L_des,fe_r_rot_des,fe_r_pos_L_des);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">auto</span> resHand=kinDynSolver.computeInK_Hand(hd_l_rot_des,hd_l_pos_L_des,hd_r_rot_des,hd_r_pos_L_des);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    Eigen::VectorXd qIniDes=Eigen::VectorXd::Zero(mj_model-&gt;nq, 1);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    qIniDes.block(7, 0, mj_model-&gt;nq - 7, 1)= resLeg.jointPosRes + resHand.jointPosRes;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    WBC_solv.setQini(qIniDes);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// register variable name for data logger</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;simTime&quot;</span>,1);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_pos_des&quot;</span>,model_nv - 6);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_pos_cur&quot;</span>,model_nv - 6);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_vel_des&quot;</span>,model_nv - 6);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_vel_cur&quot;</span>,model_nv - 6);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motor_tor_des&quot;</span>,model_nv - 6);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;rpyVal&quot;</span>,3);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;base_omega_W&quot;</span>,3);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;gpsVal&quot;</span>,3);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;base_vel&quot;</span>,3);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    logger.finishItermAdding();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">int</span>  MPC_count = 0; <span class="comment">// count for controlling the mpc running period</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">double</span> startSteppingTime=3;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">double</span> startWalkingTime=5;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">double</span> simEndTime=30;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    mjtNum simstart = mj_data-&gt;time;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">double</span> simTime = mj_data-&gt;time;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">while</span> (!glfwWindowShouldClose(uiController.window)) {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        simstart = mj_data-&gt;time;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordflow">while</span> (mj_data-&gt;time - simstart &lt; 1.0 / 60.0 &amp;&amp; uiController.runSim) { <span class="comment">// press &quot;1&quot; to pause and resume, &quot;2&quot; to step the simulation</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            mj_step(mj_model, mj_data);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            simTime=mj_data-&gt;time;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <span class="comment">// Read the sensors:</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            mj_interface.updateSensorValues();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            mj_interface.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="comment">// update kinematics and dynamics info</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            kinDynSolver.dataBusRead(RobotState);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            kinDynSolver.computeJ_dJ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            kinDynSolver.computeDyn();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            kinDynSolver.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            <span class="comment">// joint number: arm-l: 0-6, arm-r: 7-13, head: 14, waist: 15-17, leg-l: 18-23, leg-r: 24-29</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <span class="keywordflow">if</span> (simTime &gt; startWalkingTime) {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                jsInterp.setWzDesLPara(0, 1);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                jsInterp.setVxDesLPara(xv_des, 2.0); <span class="comment">// jsInterp.setVxDesLPara(0.9,1);</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                jsInterp.setIniPos(RobotState.q(0), RobotState.q(1));</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            jsInterp.step();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            RobotState.js_pos_des(2) = stand_legLength + foot_height; <span class="comment">// pos z is not assigned in jyInterp</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            jsInterp.dataBusWrite(RobotState); <span class="comment">// only pos x, pos y, theta z, vel x, vel y , omega z are rewrote.</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keywordflow">if</span> (simTime &gt;= startSteppingTime) {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                <span class="comment">// gait scheduler</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                gaitScheduler.dataBusRead(RobotState);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                gaitScheduler.step();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                gaitScheduler.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                footPlacement.<a class="code" href="classFootPlacement.html#abefe39cf532cd6ee56094fd96b9aead1">dataBusRead</a>(RobotState);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                footPlacement.<a class="code" href="classFootPlacement.html#a44ed054253f62f43df8b23f60694d600">getSwingPos</a>();</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                footPlacement.<a class="code" href="classFootPlacement.html#a833b5bb6ef5578bfed4d8d50c9786fa7">dataBusWrite</a>(RobotState);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="comment">// ------------- MPC ------------</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <span class="keywordflow">if</span> (MPC_count &gt;= dt_200Hz / dt) {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                MPC_solv.dataBusRead(RobotState);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                MPC_solv.cal();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                MPC_solv.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                MPC_count = 0;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                MPC_count = MPC_count + 1;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            <span class="comment">// ------------- WBC ------------</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="comment">// WBC Calculation</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            WBC_solv.dataBusRead(RobotState);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            WBC_solv.computeDdq(kinDynSolver);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            WBC_solv.computeTau();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            WBC_solv.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            <span class="comment">// get the final joint command</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            <span class="keywordflow">if</span> (simTime &lt;= startSteppingTime) {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                RobotState.motors_pos_des = eigen2std(resLeg.jointPosRes + resHand.jointPosRes);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                RobotState.motors_vel_des = motors_vel_des;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                RobotState.motors_tor_des = motors_tau_des;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                MPC_solv.enable();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                Eigen::Matrix&lt;double, 1, nx&gt;  L_diag;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                Eigen::Matrix&lt;double, 1, nu&gt;  K_diag;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                L_diag &lt;&lt;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                       1.0, 1.0, 1.0,<span class="comment">//eul</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                        1.0, 1.0,  1.0,<span class="comment">//pCoM</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                        1e-7, 1e-7, 1e-7,<span class="comment">//w</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                        100.0, 1.0, 1.0;<span class="comment">//vCoM</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                K_diag &lt;&lt;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                       1.0, 1.0, 1.0,<span class="comment">//fl</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                        1.0, 1.0, 1.0,</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                        1.0, 1.0, 1.0,<span class="comment">//fr</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                        1.0, 1.0, 1.0,1.0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                MPC_solv.set_weight(1e-6, L_diag, K_diag);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                Eigen::VectorXd pos_des = kinDynSolver.integrateDIY(RobotState.q, RobotState.wbc_delta_q_final);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                RobotState.motors_pos_des = eigen2std(pos_des.block(7, 0, model_nv - 6, 1));</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                RobotState.motors_vel_des = eigen2std(RobotState.wbc_dq_final);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                RobotState.motors_tor_des = eigen2std(RobotState.wbc_tauJointRes);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            <span class="comment">// joint PVT controller</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            pvtCtr.dataBusRead(RobotState);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            <span class="keywordflow">if</span> (simTime &lt;= 3) {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                pvtCtr.calMotorsPVT(100.0 / 1000.0 / 180.0 * 3.1415);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                pvtCtr.setJointPD(100,10,<span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                pvtCtr.setJointPD(100,10,<span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                pvtCtr.setJointPD(100,10,<span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                pvtCtr.setJointPD(100,10,<span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                pvtCtr.setJointPD(1000,100,<span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                pvtCtr.setJointPD(1000,100,<span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                pvtCtr.calMotorsPVT();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            pvtCtr.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            <span class="comment">// give the joint torque command to Webots</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            mj_interface.setMotorsTorque(RobotState.motors_tor_out);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            <span class="comment">// print info to the console</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment">//            printf(&quot;f_L=[%.3f, %.3f, %.3f]\n&quot;, RobotState.fL[0], RobotState.fL[1], RobotState.fL[2]);</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="comment">//            printf(&quot;f_R=[%.3f, %.3f, %.3f]\n&quot;, RobotState.fR[0], RobotState.fR[1], RobotState.fR[2]);</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="comment">//            printf(&quot;rpyVal=[%.5f, %.5f, %.5f]\n&quot;, RobotState.rpy[0], RobotState.rpy[1], RobotState.rpy[2]);</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="comment">//            printf(&quot;basePos=[%.5f, %.5f, %.5f]\n&quot;, RobotState.basePos[0], RobotState.basePos[1], RobotState.basePos[2]);</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="comment">// data save</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            logger.startNewLine();</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;simTime&quot;</span>, simTime);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_pos_des&quot;</span>, RobotState.motors_pos_des);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_pos_cur&quot;</span>, RobotState.motors_pos_cur);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_vel_des&quot;</span>, RobotState.motors_vel_des);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_vel_cur&quot;</span>, RobotState.motors_vel_cur);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;motor_tor_des&quot;</span>, RobotState.motors_tor_des);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;rpyVal&quot;</span>, RobotState.rpy);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;base_omega_W&quot;</span>, RobotState.base_omega_W);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;gpsVal&quot;</span>, RobotState.basePos);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            logger.recItermData(<span class="stringliteral">&quot;base_vel&quot;</span>, RobotState.dq.block&lt;3, 1&gt;(0, 0));</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            logger.finishLine();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordflow">if</span> (mj_data-&gt;time&gt;=simEndTime)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        uiController.updateScene();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    };</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">// free visualization storage</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    uiController.Close();</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassFootPlacement_html_ab5b95a95c66387cf179dc54179d956a0"><div class="ttname"><a href="classFootPlacement.html#ab5b95a95c66387cf179dc54179d956a0">FootPlacement::legLength</a></div><div class="ttdeci">double legLength</div><div class="ttdoc">length of the leg</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00023">foot_placement.h:23</a></div></div>
<div class="ttc" id="aclassFootPlacement_html"><div class="ttname"><a href="classFootPlacement.html">FootPlacement</a></div><div class="ttdoc">This class is used to generate swing leg trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00018">foot_placement.h:18</a></div></div>
<div class="ttc" id="aclassPVT__Ctr_html"><div class="ttname"><a href="classPVT__Ctr.html">PVT_Ctr</a></div><div class="ttdoc">This class implemented a position and velocity based low-level PD motor controller.</div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00022">PVT_ctrl.h:22</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_ad375e1c3c0dfa0c73e13372b092a0738"><div class="ttname"><a href="classFootPlacement.html#ad375e1c3c0dfa0c73e13372b092a0738">FootPlacement::kp_wz</a></div><div class="ttdeci">double kp_wz</div><div class="ttdoc">Catersian swing foot position control gain in z-axis.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00022">foot_placement.h:22</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_ae58f1f2ea1c2d690d10f4c7b7b0c67d0"><div class="ttname"><a href="classFootPlacement.html#ae58f1f2ea1c2d690d10f4c7b7b0c67d0">FootPlacement::kp_vx</a></div><div class="ttdeci">double kp_vx</div><div class="ttdoc">Catersian swing foot position control gain in x-axis.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00020">foot_placement.h:20</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html"><div class="ttname"><a href="classPin__KinDyn.html">Pin_KinDyn</a></div><div class="ttdoc">This class implement the kinematic and dynamics of robot using pinocchio.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00028">pino_kin_dyn.h:28</a></div></div>
<div class="ttc" id="aclassDataLogger_html"><div class="ttname"><a href="classDataLogger.html">DataLogger</a></div><div class="ttdoc">This class is a helper class to record the data.</div><div class="ttdef"><b>Definition:</b> <a href="data__logger_8h_source.html#l00027">data_logger.h:27</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_a9e1f6a5e58ce202d031a17be6652ce20"><div class="ttname"><a href="classFootPlacement.html#a9e1f6a5e58ce202d031a17be6652ce20">FootPlacement::kp_vy</a></div><div class="ttdeci">double kp_vy</div><div class="ttdoc">Catersian swing foot position control gain in y-axis.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00021">foot_placement.h:21</a></div></div>
<div class="ttc" id="aclassWBC__priority_html"><div class="ttname"><a href="classWBC__priority.html">WBC_priority</a></div><div class="ttdoc">This class implements a whole body controller with priority control.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00024">wbc_priority.h:24</a></div></div>
<div class="ttc" id="aclassUIctr_html"><div class="ttname"><a href="classUIctr.html">UIctr</a></div><div class="ttdoc">User interface control class.</div><div class="ttdef"><b>Definition:</b> <a href="GLFW__callbacks_8h_source.html#l00019">GLFW_callbacks.h:19</a></div></div>
<div class="ttc" id="aclassJoyStickInterpreter_html"><div class="ttname"><a href="classJoyStickInterpreter.html">JoyStickInterpreter</a></div><div class="ttdoc">The class serves as interface from joystick to motion controller.</div><div class="ttdef"><b>Definition:</b> <a href="joystick__interpreter_8h_source.html#l00018">joystick_interpreter.h:18</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_a833b5bb6ef5578bfed4d8d50c9786fa7"><div class="ttname"><a href="classFootPlacement.html#a833b5bb6ef5578bfed4d8d50c9786fa7">FootPlacement::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;robotState)</div><div class="ttdoc">Write swing foot information to databus.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8cpp_source.html#l00027">foot_placement.cpp:27</a></div></div>
<div class="ttc" id="aclassMPC_html"><div class="ttname"><a href="classMPC.html">MPC</a></div><div class="ttdoc">This class implements the model predictive controller.</div><div class="ttdef"><b>Definition:</b> <a href="mpc_8h_source.html#l00036">mpc.h:36</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_a44ed054253f62f43df8b23f60694d600"><div class="ttname"><a href="classFootPlacement.html#a44ed054253f62f43df8b23f60694d600">FootPlacement::getSwingPos</a></div><div class="ttdeci">void getSwingPos()</div><div class="ttdoc">Calculate the desired position of the swing foot.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8cpp_source.html#l00031">foot_placement.cpp:31</a></div></div>
<div class="ttc" id="aclassMJ__Interface_html"><div class="ttname"><a href="classMJ__Interface.html">MJ_Interface</a></div><div class="ttdoc">Mujoco interface controls the interaction between motion controller and mujoco simulation.</div><div class="ttdef"><b>Definition:</b> <a href="MJ__interface_8h_source.html#l00019">MJ_interface.h:19</a></div></div>
<div class="ttc" id="aclassGaitScheduler_html"><div class="ttname"><a href="classGaitScheduler.html">GaitScheduler</a></div><div class="ttdoc">This class to shedule gait, including leg swing and stance-swing transition.</div><div class="ttdef"><b>Definition:</b> <a href="gait__scheduler_8h_source.html#l00019">gait_scheduler.h:19</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_ab42c8e066a9f7d1997ca7780af64c932"><div class="ttname"><a href="classFootPlacement.html#ab42c8e066a9f7d1997ca7780af64c932">FootPlacement::stepHeight</a></div><div class="ttdeci">double stepHeight</div><div class="ttdoc">the maximal height of the foot when walking a step</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8h_source.html#l00024">foot_placement.h:24</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassFootPlacement_html_abefe39cf532cd6ee56094fd96b9aead1"><div class="ttname"><a href="classFootPlacement.html#abefe39cf532cd6ee56094fd96b9aead1">FootPlacement::dataBusRead</a></div><div class="ttdeci">void dataBusRead(DataBus &amp;robotState)</div><div class="ttdoc">Read data from databus.</div><div class="ttdef"><b>Definition:</b> <a href="foot__placement_8cpp_source.html#l00011">foot_placement.cpp:11</a></div></div>
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